version: 66.08
glider: 502
mission: 3
dive: 116
start: 12 2 110 21 42 13
data:
$ID,502
$MISSION,3
$DIVE,116
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,2
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,10
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,2
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26247.281
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,021210,213607,-7724.074,16507.988,36,0.9,37,144.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.3
$GPS2,021210,214150,-7724.028,16507.758,11,1.7,11,144.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SOUND1
$TGT_LATLONG,-7728.000,16520.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,2.0,8850,-17.5,-10.000
$D_GRID,514
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,129,0.00,0.00,-110.80,0.000,2,0.000,0.000,426,2649,3377,0,0,0,0,0,0
$GC,131,-0.76,-146.0,3.5,-3.1,17,152,8.98,2.30,-5.05,0.000,4,0.210,0.062,2807,1232,3560,0,0,0,0,0,0
$GC,164,-0.76,-146.0,11.5,-22.8,22,172,0.00,2.40,0.00,0.000,6,0.000,0.059,2798,2658,3563,0,0,0,0,0,0
$GC,303,-0.76,-146.0,33.4,-18.0,47,310,0.00,1.80,0.00,0.000,4,0.000,0.065,2790,3764,3564,0,0,0,0,0,0
$GC,339,-0.76,-146.0,39.0,-15.2,53,346,0.00,1.77,0.00,0.000,6,0.000,0.044,2790,2640,3564,0,0,0,0,0,0
$GC,476,-0.76,-146.0,62.9,-18.4,78,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2638,3564,0,0,0,0,0,0
$GC,616,-0.76,-146.0,89.0,-23.8,103,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2638,3564,0,0,0,0,0,0
$GC,758,-0.76,-146.0,118.6,-22.5,121,761,0.00,1.85,0.00,0.000,4,0.000,0.067,2782,3771,3564,0,0,0,0,0,0
$GC,847,-0.76,-146.0,136.2,-21.4,129,851,0.12,1.73,0.00,0.000,6,0.178,0.044,2814,2661,3564,0,0,0,0,0,0
$GC,988,-0.76,-146.0,157.6,-13.4,142,992,0.00,2.22,0.00,0.000,4,0.000,0.052,2814,1243,3564,0,0,0,0,0,0
$GC,1017,-0.76,-146.0,161.9,-14.3,144,1021,0.00,2.30,0.00,0.000,6,0.000,0.059,2806,2662,3564,0,0,0,0,0,0
$GC,1153,-0.76,-146.0,182.5,-15.7,156,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3564,0,0,0,0,0,0
$GC,1279,-0.76,-146.0,203.3,-16.2,168,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3564,0,0,0,0,0,0
$GC,1406,-0.76,-146.0,222.6,-15.5,180,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2662,3564,0,0,0,0,0,0
$GC,1534,-0.76,-146.0,242.4,-15.5,192,1538,0.00,1.77,0.00,0.000,4,0.000,0.067,2798,3771,3564,0,0,0,0,0,0
$GC,1570,-0.76,-146.0,248.0,-17.3,195,1573,0.00,1.73,0.00,0.000,6,0.000,0.045,2798,2658,3563,0,0,0,0,0,0
$GC,1708,-0.76,-146.0,271.8,-16.1,208,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2656,3564,0,0,0,0,0,0
$GC,1900,-0.76,-146.0,302.0,-16.0,226,1903,0.00,1.80,0.00,0.000,4,0.000,0.067,2789,3764,3564,0,0,0,0,0,0
$GC,1926,-0.76,-146.0,306.8,-17.4,228,1934,0.00,1.75,0.00,0.000,6,0.000,0.044,2789,2659,3563,0,0,0,0,0,0
$GC,2125,-0.76,-146.0,340.1,-16.7,247,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2658,3563,0,0,0,0,0,0
$GC,2315,-0.76,-146.0,371.3,-15.9,265,2319,0.00,1.80,0.00,0.000,4,0.000,0.068,2782,3766,3563,0,0,0,0,0,0
$GC,2360,-0.76,-146.0,379.1,-17.8,269,2365,0.12,1.73,0.00,0.000,6,0.175,0.044,2814,2649,3563,0,0,0,0,0,0
$GC,2565,-0.76,-146.0,407.6,-13.6,288,2569,0.00,1.83,0.00,0.000,4,0.000,0.067,2806,3771,3564,0,0,0,0,0,0
$GC,2588,-0.76,-146.0,411.2,-13.8,290,2591,0.00,1.70,0.00,0.000,6,0.000,0.044,2807,2673,3563,0,0,0,0,0,0
$GC,2790,-0.76,-146.0,439.4,-13.5,309,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2671,3563,0,0,0,0,0,0
$GC,2981,-0.76,-146.0,465.4,-13.5,327,2985,0.00,1.77,0.00,0.000,4,0.000,0.067,2798,3764,3563,0,0,0,0,0,0
$GC,3030,-0.76,-146.0,472.8,-15.2,331,3038,0.00,1.73,0.00,0.000,6,0.000,0.044,2798,2676,3563,0,0,0,0,0,0
$GC,3231,-0.76,-146.0,500.5,-14.1,350,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2676,3563,0,0,0,0,0,0
$STATE,3349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3349,begin apogee
$GC,3353,-0.17,0.0,517.4,13.9,354,3493,0.65,0.00,132.88,1.157,4,0.136,0.000,3006,2483,2960,0,0,0,0,0,0
$STATE,3493,end apogee,CONTROL_FINISHED_OK
$STATE,3493,begin climb
$GC,3495,0.76,146.0,521.6,0.0,358,3646,0.95,2.53,143.38,1.086,4,0.075,0.052,3309,1094,2365,0,0,0,0,0,0
$GC,3768,0.76,146.0,494.4,13.2,369,3776,0.00,2.47,0.00,0.000,6,0.000,0.054,3310,2499,2352,0,0,0,0,0,0
$GC,3968,0.76,146.0,468.0,13.6,388,3973,0.00,2.30,0.00,0.000,4,0.000,0.053,3319,1098,2349,0,0,0,0,0,0
$GC,4092,0.76,146.0,451.7,12.5,398,4099,0.00,2.35,0.00,0.000,6,0.000,0.054,3319,2520,2346,0,0,0,0,0,0
$GC,4289,0.76,146.0,424.2,14.1,417,4292,0.00,2.00,0.00,0.000,4,0.000,0.061,3319,3763,2345,0,0,0,0,0,0
$GC,4383,0.76,146.0,409.3,15.6,425,4390,0.00,1.98,0.00,0.000,6,0.000,0.044,3328,2536,2345,0,0,0,0,0,0
$GC,4581,0.76,146.0,381.6,13.7,444,4584,0.00,2.00,0.00,0.000,4,0.000,0.061,3328,3771,2344,0,0,0,0,0,0
$GC,4614,0.76,146.0,376.5,15.8,447,4618,0.00,1.95,0.00,0.000,6,0.000,0.044,3337,2529,2343,0,0,0,0,0,0
$GC,4817,0.76,146.0,346.8,14.7,466,4821,0.00,2.00,0.00,0.000,4,0.000,0.062,3337,3765,2343,0,0,0,0,0,0
$GC,4854,0.76,146.0,340.4,16.8,469,4863,0.10,1.95,0.00,0.000,6,0.155,0.042,3315,2548,2343,0,0,0,0,0,0
$GC,5054,0.76,146.0,315.1,12.5,488,5058,0.00,1.98,0.00,0.000,4,0.000,0.064,3315,3762,2342,0,0,0,0,0,0
$GC,5092,0.76,146.0,309.5,13.9,491,5100,0.00,1.92,0.00,0.000,6,0.000,0.044,3322,2554,2341,0,0,0,0,0,0
$GC,5290,0.76,146.0,283.5,13.7,510,5294,0.00,1.95,0.00,0.000,4,0.000,0.060,3322,3764,2341,0,0,0,0,0,0
$GC,5335,0.76,146.0,276.4,16.6,514,5338,0.00,1.92,0.00,0.000,6,0.000,0.044,3328,2559,2341,0,0,0,0,0,0
$GC,5539,0.76,146.0,246.8,14.2,533,5542,0.00,1.95,0.00,0.000,4,0.000,0.060,3328,3767,2341,0,0,0,0,0,0
$GC,5596,0.76,146.0,237.3,15.8,538,5606,0.00,1.88,0.00,0.000,6,0.000,0.043,3337,2586,2341,0,0,0,0,0,0
$GC,5734,0.76,146.0,217.8,14.4,551,5738,0.00,1.90,0.00,0.000,4,0.000,0.061,3337,3765,2341,0,0,0,0,0,0
$GC,5770,0.76,146.0,212.0,16.7,554,5774,0.12,1.83,0.00,0.000,6,0.174,0.044,3313,2588,2341,0,0,0,0,0,0
$GC,5911,0.76,146.0,193.4,12.9,567,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2586,2340,0,0,0,0,0,0
$GC,6037,0.76,146.0,177.5,12.4,579,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2586,2340,0,0,0,0,0,0
$GC,6164,0.76,146.0,160.3,12.9,591,6168,0.00,1.90,0.00,0.000,4,0.000,0.063,3313,3762,2340,0,0,0,0,0,0
$GC,6209,0.76,146.0,154.0,14.5,595,6212,0.00,1.80,0.00,0.000,6,0.000,0.044,3316,2603,2340,0,0,0,0,0,0
$GC,6350,0.76,146.0,135.3,13.7,608,6353,0.00,1.88,0.00,0.000,4,0.000,0.062,3316,3764,2340,0,0,0,0,0,0
$GC,6364,0.76,146.0,132.6,14.0,609,6373,0.00,1.83,0.00,0.000,6,0.000,0.043,3324,2610,2340,0,0,0,0,0,0
$GC,6500,0.76,146.0,113.6,14.7,622,6504,0.00,1.88,0.00,0.000,4,0.000,0.064,3325,3768,2340,0,0,0,0,0,0
$GC,6526,0.76,146.0,109.3,15.4,624,6535,0.00,1.83,0.00,0.000,6,0.000,0.044,3333,2620,2340,0,0,0,0,0,0
$GC,6662,0.76,146.0,89.1,14.7,643,6669,0.00,2.42,0.00,0.000,4,0.000,0.053,3345,1082,2340,0,0,0,0,0,0
$GC,6688,0.76,146.0,85.5,14.0,647,6695,0.12,2.47,0.00,0.000,6,0.164,0.054,3312,2621,2339,0,0,0,0,0,0
$GC,6827,0.76,146.0,66.7,13.2,672,6835,0.00,1.85,0.00,0.000,4,0.000,0.063,3312,3758,2339,0,0,0,0,0,0
$GC,6869,0.76,146.0,59.8,16.3,679,6876,0.00,1.80,0.00,0.000,6,0.000,0.045,3319,2607,2339,0,0,0,0,0,0
$GC,7007,0.76,146.0,38.3,14.4,704,7016,0.00,2.42,0.00,0.000,4,0.000,0.053,3328,1088,2339,0,0,0,0,0,0
$GC,7050,0.76,146.0,32.1,14.8,711,7057,0.00,2.45,0.00,0.000,6,0.000,0.054,3328,2615,2339,0,0,0,0,0,0
$GC,7188,0.76,146.0,11.8,16.8,736,7197,0.00,1.85,0.00,0.000,4,0.000,0.062,3328,3756,2339,0,0,0,0,0,0
$FREEZE,8.94,-1.791,-1.907,2,1,0
$FREEZE,8.23,-1.791,-1.907,2,1,0
$FREEZE,7.41,-1.791,-1.906,2,1,0
$FREEZE,6.41,-1.790,-1.905,2,1,0
$FREEZE,5.43,-1.789,-1.904,2,1,0
$FREEZE,4.26,-1.789,-1.904,2,1,0
$FREEZE,3.17,-1.786,-1.902,2,1,0
$FREEZE,1.87,-1.786,-1.902,2,1,0
$STATE,7248,end climb,SURFACE_DEPTH_REACHED
$STATE,7248,begin surface coast
$FREEZE,1.11,-1.787,-1.901,2,1,0
$FREEZE,1.19,-1.785,-1.900,2,1,0
$FINISH,1.2,1.027849
$STATE,7261,end surface coast,CONTROL_FINISHED_OK
$STATE,7262,begin surface
$SM_CCo,7277,131.27,0.775,1,0,1330,400.08
$SM_GC,1.79,0.00,0.00,131.27,0.000,0.000,0.775,416,2646,1330,-8.27,-0.11,400.08
$IRIDIUM_FIX,-7639.69,16502.85,021210,191916
$TT8_MAMPS,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,500.5,46.0
$24V_AH,21.3,30.806
$10V_AH,9.8,17.724
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.575,99.250,276.250,131.275,0.000,25.817,52.162,174.541,2.750,0.000,12.369,1863.716,3187.461,554.549,2030.397,125.227,0.000,1346.544,0.000,1293.354,0.000,15.757,0.000
$DEVICE_MAMPS,209.610,68.085,1157.445,774.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.775,897.606,835.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,275984
$DATA_FILE_SIZE,50407,748
$CAP_FILE_SIZE,110702,0
$CFSIZE,260165632,246460416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,234655,-7725.107,16510.889,20,1.6,33,144.1